While I did not encounter such a problem in the second version, I am facing such a problem in this version.
I am building a robot that will move when an object is present and not move when it is not.
When the object is present, the robot follows. It stops in the designated area. If there is no object, it stops completely. If there is an object again, it will follow it.
Ok, we can follow the object and stop it wherever we want. However, when we lift the object, the robot starts to turn in other directions. It doesn’t stop.
However, when I type the stop commands, the robot does not move at all.
Of course I’m using the else command while writing this.
When I look at the data on the serial port screen of the Arduino, when the object is defined, it enters the desired block and starts receiving the data. But the robot does not move at all.
motion robot(0,0); When I delete it, the robot starts working.
Actually it doesn’t want to run this very simple code.
I did not understand what you want to do. It’s frustrating that it doesn’t execute such an easy command. I didn’t know what to do and wanted to consult you. Can you help me ??
#include <SPI.h>
#include <Pixy.h>
// This is the main Pixy object
Pixy pixy;
// ENA IN1 IN2 IN3 IN4 ENB
int myPins [6] = {2, 3, 4, 5, 6, 7};
int b=0;
int cx, cy , c_height, c_width;
void setup()
{
Serial.begin(115200);
Serial.print(“Starting…\n”);
for (int i=0; i<6; i++){
pinMode(myPins[i], OUTPUT);
}
pixy.init();
}
void loop()
{
pixyCheck();
if(b==1)
{
cx = pixy.blocks[0].x;
Serial.println(b);
cy = pixy.blocks[0].y;
c_height = pixy.blocks[0].height;
c_width = pixy.blocks[0].width;
if(cx>180 && cx<320)
{
moverobot(255,-200);
return loop();
}
if(cx>0 && cx<140)
{
moverobot(-255,200);
return loop();
}
if(cx>=140 && cx<=180)
{
if(c_width>60){
moverobot(0,0);
return loop();
}
else {
moverobot(150,150);
return loop();
}
}
}
else //It works when I delete these lines.
moverobot(0,0); //It works when I delete these lines.
}
void pixyCheck()
{
uint16_t blocks;
// grab blocks
blocks=pixy.getBlocks();
// If there are detect blocks, print them!
if (blocks)
{
b=1;
for (int i=0; i<blocks; i++)
{
Serial.print(" block ");
Serial.print(i);
Serial.print(": ");
pixy.blocks[i].print();
}
}
else
b=0;
}
void moverobot(int leftSpeed, int rightSpeed)
{
if(leftSpeed ==0 && rightSpeed==0){
analogWrite(myPins[0], 0);
analogWrite(myPins[5], 0);
}
else if (leftSpeed > 0 && rightSpeed<0){
digitalWrite(myPins[1], 0);
digitalWrite(myPins[2], 1);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
digitalWrite(myPins[3], 1);
digitalWrite(myPins[4], 0);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
}
else if ( rightSpeed >0 && leftSpeed<0){
digitalWrite(myPins[1], 1);
digitalWrite(myPins[2], 0);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
digitalWrite(myPins[3], 0);
digitalWrite(myPins[4], 1);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
}
else if ( rightSpeed >0 && leftSpeed>0){
digitalWrite(myPins[1], 0);
digitalWrite(myPins[2], 1);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
digitalWrite(myPins[3], 0);
digitalWrite(myPins[4], 1);
analogWrite(myPins[0], abs(leftSpeed));
analogWrite(myPins[5], abs(rightSpeed));
}
}
